CN103317512A - Extensible spherical robot mechanism - Google Patents
Extensible spherical robot mechanism Download PDFInfo
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- CN103317512A CN103317512A CN2013102579423A CN201310257942A CN103317512A CN 103317512 A CN103317512 A CN 103317512A CN 2013102579423 A CN2013102579423 A CN 2013102579423A CN 201310257942 A CN201310257942 A CN 201310257942A CN 103317512 A CN103317512 A CN 103317512A
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Abstract
The invention discloses an extensible spherical robot mechanism comprising an outer spherical frame, a sphere extension mechanism and a rolling mechanism. Connecting blocks and connecting rods are connected through hinges to form the outer spherical frame so as to form a parallelogram mechanism composed of three mutually perpendicular round frames as main frames and six square frames; the sphere extension mechanism comprises a left fixed plate and a right fixed plate which are fixed on the connecting blocks; the sphere extension mechanism is connected with the rolling mechanism through a center shaft. The extensible spherical robot mechanism can work in more complicated environments, when movement spaces are broad, the size of the extensible spherical robot mechanism can be enlarged, the large extensible spherical robot mechanism is high in speed and good in mobility performance, and when in narrow spaces, the extensible spherical robot mechanism can be downsized so as to pass the narrow spaces.
Description
Technical field
The present invention relates to a kind of scalable ball shape robot mechanism, belong to the Robotics field.
Technical background
Ball shape robot refers to that a class is installed in movement executing mechanism, sensor, controller, energy source device the general name of the system in one spherical shell, realizes the robot of spheroid motion by interior type of drive.Because this class robot has good dynamic and static balancing, has simultaneously good sealing, can travel in unmanned, sand and dust, humidity, corrosive adverse circumstances, and have amphibious function.Can be applicable to the fields such as planetary detection, environmental monitoring, defence equipment, amusement.The present mobility that can do well of ball shape robot, but in some application scenario, may need by some narrow spaces causes it can not pass through these narrow spaces owing to the size of ball shape robot can not change.
Summary of the invention
The object of the invention is to overcome the shortcoming that the size of existing ball shape robot shape when motion can not change along with environmental evolution, propose a kind of scalable ball shape robot mechanism.
For reaching above-mentioned purpose, the present invention adopts following technical scheme:
A kind of scalable ball shape robot mechanism, comprise the ectosphere framework, cause the ball telescoping mechanism, rolling mechanism, described ectosphere framework is linked by hinge by contiguous block and connecting rod and forms, and consists of 3 orthogonal circular frames as the parallel-crank mechanism of main frame and 6 quadras; The described ball telescoping mechanism that causes comprises left fixed head and right fixed head, and described left fixed head and right fixed head are fixed on the described contiguous block; The described ball telescoping mechanism that causes is connected central shaft with rolling mechanism and connects.
The described ball telescoping mechanism that causes also comprises left flexible motor, right flexible motor, left leading screw, right leading screw and central shaft; Have two screws on the described central shaft, cooperate with left leading screw and right leading screw, the flexible motor in a described left side is fixed on the left fixed head, right flexible motor is fixed on the right fixed head, the flexible motor output shaft in a described left side connects left leading screw, right flexible motor output shaft connects right leading screw, drives respectively left leading screw and right leading screw, so that left leading screw and right leading screw are done feed motion at the axis direction of central shaft.
Described rolling mechanism comprises main motor, and sleeve is adjusted motor, leading screw, mass, polished rod and pinion; Described sleeve cooperates with central shaft, described main motor is fixed on the central shaft, the output shaft of main motor connects pinion, have the internal gear hole on the sleeve, pinion is meshed with internal gear hole on the sleeve, and described adjustment motor is fixed on the sleeve, the output shaft of adjusting motor connects leading screw, leading screw and mass cooperate, and an end of described polished rod is fixed on the sleeve, and the other end cooperates with mass; By gear drive, so that mass deflects to a direction, cause the contact point on the center of gravity of ball shape robot and ball shape robot and ground not on same vertical line, gravity produces a tilting moment with respect to contact point, ball shape robot is toppled towards the center of gravity direction, thereby the drive ball anthropomorphic robot roll; Polished rod constraint mass can not rotate mass self, avoids ball shape robot mass and ectosphere framework when flexible to interfere.
Compared with prior art, the present invention has following remarkable advantage:
This mechanism can be more carrying out operation in the complex environment, and when space was more wide, ball can amplify its size, and large ball movement velocity is fast, and travelling performance is good, and when when comparing narrow space, it can dwindle its size, so that by narrow space.
Description of drawings
Fig. 1 is the master-plan schematic diagram of this mechanism.
Fig. 2 is the circular frame schematic diagram.
Fig. 3 is that ball shape robot causes ball telescoping mechanism schematic diagram.
Fig. 4 is ball shape robot rolling mechanism schematic diagram.
Fig. 5 is that this mechanism realizes the reduction capability schematic diagram.
The specific embodiment
The present invention is further detailed explanation below in conjunction with the drawings and specific embodiments.
As depicted in figs. 1 and 2, a kind of scalable ball shape robot mechanism, comprise the ectosphere framework, cause the ball telescoping mechanism, rolling mechanism, it is characterized in that, described ectosphere framework is linked by hinge 16 by contiguous block 14 and connecting rod 15 and forms, and consists of 3 orthogonal circular frames as the parallel-crank mechanism of main frame and 6 quadras; The described ball telescoping mechanism that causes comprises left fixed head 7 and right fixed head 8, and described left fixed head 7 and right fixed head 8 are fixed on the described contiguous block 14; The described ball telescoping mechanism that causes is connected central shaft 5 connections with rolling mechanism.
As shown in Figure 3, the described ball telescoping mechanism that causes also comprises left flexible motor 1, right flexible motor 2, left leading screw 3, right leading screw 4 and central shaft 5; Have two screws on the described central shaft 5, cooperate with left leading screw 3 and right leading screw 4, the flexible motor 1 in a described left side is fixed on the left fixed head 7, right flexible motor 2 is fixed on the right fixed head 8, flexible motor 1 output shaft in a described left side connects left leading screw 3, right flexible motor 2 output shafts connect right leading screw 4, drive respectively left leading screw 3 and right leading screw 4, so that left leading screw 3 and right leading screw 4 are done feed motion at the axis direction of central shaft 5.
As shown in Figure 4, described rolling mechanism comprises main motor 6, and sleeve 9 is adjusted motor 10, leading screw 11, mass 12, polished rod 13 and pinion 18; Described sleeve 9 cooperates with central shaft 5, described main motor 6 is fixed on the central shaft 5, the output shaft of main motor 6 connects pinion 18, have the internal gear hole on the sleeve 9, pinion 18 is meshed with internal gear hole on the sleeve 9, and described adjustment motor 10 is fixed on the sleeve 9, the output shaft of adjusting motor 10 connects leading screw 11, leading screw 11 and mass 12 cooperate, and an end of described polished rod 13 is fixed on the sleeve 9, and the other end cooperates with mass 12; By gear drive, so that mass 12 deflects to a direction, cause the contact point on the center of gravity of ball shape robot and ball shape robot and ground not on same vertical line, gravity produces a tilting moment with respect to contact point, ball shape robot is toppled towards the center of gravity direction, thereby the drive ball anthropomorphic robot roll; Polished rod 13 constraint masses 12 self can not rotate mass 12, avoid ball shape robot mass 12 when flexible to interfere with the ectosphere framework.
As shown in Figure 5, cause the ball telescoping mechanism so that the diameter of ectosphere framework changes, can be so that ball shape robot carries out operation in narrow environment.
Claims (3)
1. scalable ball shape robot mechanism, comprise the ectosphere framework, cause the ball telescoping mechanism, rolling mechanism, it is characterized in that, described ectosphere framework is linked by hinge (16) by contiguous block (14) and connecting rod (15) and forms, and consists of 3 orthogonal circular frames as the parallel-crank mechanism of main frame and 6 quadras; The described ball telescoping mechanism that causes comprises left fixed head (7) and right fixed head (8), and described left fixed head (7) and right fixed head (8) are fixed on the described contiguous block (14); The described ball telescoping mechanism that causes is connected central shaft (5) connection with rolling mechanism.
2. a kind of scalable ball shape robot according to claim 1 mechanism is characterized in that, the described ball telescoping mechanism that causes also comprises left flexible motor (1), right flexible motor (2), left leading screw (3), right leading screw (4) and central shaft (5); Have two screws on the described central shaft (5), cooperate with left leading screw (3) and right leading screw (4), the described left side motor (1) that stretches is fixed on the left fixed head (7), right flexible motor (2) is fixed on the right fixed head (8), described left side motor (1) output shaft that stretches connects left leading screw (3), right flexible motor (2) output shaft connects right leading screw (4), drive respectively left leading screw (3) and right leading screw (4), so that left leading screw (3) and right leading screw (4) are done feed motion at the axis direction of central shaft (5).
3. a kind of scalable ball shape robot according to claim 1 mechanism is characterized in that, described rolling mechanism comprises main motor (6), sleeve (9) is adjusted motor (10), leading screw (11), mass (12), polished rod (13) and pinion (18); Described sleeve (9) cooperates with central shaft (5), described main motor (6) is fixed on the central shaft (5), the output shaft of main motor (6) connects pinion (18), sleeve has the internal gear hole on (9), pinion (18) is meshed with internal gear hole on the sleeve (9), described adjustment motor (10) is fixed on the sleeve (9), the output shaft of adjusting motor (10) connects leading screw (11), leading screw (11) and mass (12) cooperate, one end of described polished rod (13) is fixed on the sleeve (9), and the other end cooperates with mass (12); By gear drive, so that mass (12) deflects to a direction, cause the contact point on the center of gravity of ball shape robot and ball shape robot and ground not on same vertical line, gravity produces a tilting moment with respect to contact point, ball shape robot is toppled towards the center of gravity direction, thereby the drive ball anthropomorphic robot roll; Polished rod (13) constraint mass (12) self can not rotate mass (12), avoids ball shape robot mass (12) when flexible to interfere with the ectosphere framework.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310257942.3A CN103317512B (en) | 2013-06-26 | 2013-06-26 | Extensible spherical robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310257942.3A CN103317512B (en) | 2013-06-26 | 2013-06-26 | Extensible spherical robot mechanism |
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| CN103317512A true CN103317512A (en) | 2013-09-25 |
| CN103317512B CN103317512B (en) | 2015-12-02 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103552617A (en) * | 2013-11-04 | 2014-02-05 | 沈阳工业大学 | Bouncing omnidirectional rolling spherical robot provided with stable platform |
| CN103831818A (en) * | 2014-02-26 | 2014-06-04 | 南京航空航天大学 | Cube rod mechanism achieving space three-freedom-degree class ball joint rotation through liner driving |
| CN105370091A (en) * | 2015-12-07 | 2016-03-02 | 李星桥 | Spherical telescopic tent and installation usage method |
| KR101853258B1 (en) * | 2017-08-25 | 2018-04-30 | 조성건 | A spherical robot with variable exoskeleton |
| CN108739783A (en) * | 2018-05-04 | 2018-11-06 | 国网河北省电力有限公司石家庄供电分公司 | A kind of bird-repellent robots on electrical cross arm |
| CN108891497A (en) * | 2018-07-08 | 2018-11-27 | 胡俊 | A kind of offroad vehicle device based on propeller variable motion diameter |
| CN110549344A (en) * | 2018-06-04 | 2019-12-10 | 苏州英特吉医疗设备有限公司 | Manipulator and automatic medicine taking device with same |
| CN112775990A (en) * | 2021-01-26 | 2021-05-11 | 河北工业大学 | Ball deformation cell robot and environmental information monitoring system based on same |
| CN113733059A (en) * | 2021-09-26 | 2021-12-03 | 桂林理工大学 | Parallel metamorphic spherical robot with less degrees of freedom |
| CN113974293A (en) * | 2020-07-26 | 2022-01-28 | 北京服装学院 | Bag with two detachable sides |
| CN116735809A (en) * | 2023-08-15 | 2023-09-12 | 北京特新达机房设备有限公司 | Humidification dehumidifier humidity detection equipment for computer lab |
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- 2013-06-26 CN CN201310257942.3A patent/CN103317512B/en not_active Expired - Fee Related
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| 李端玲等: "一种变胞机构——魔术花球的自由度分析", 《机械工程学报》, vol. 38, no. 9, 30 September 2002 (2002-09-30), pages 12 - 16 * |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103552617A (en) * | 2013-11-04 | 2014-02-05 | 沈阳工业大学 | Bouncing omnidirectional rolling spherical robot provided with stable platform |
| CN103831818A (en) * | 2014-02-26 | 2014-06-04 | 南京航空航天大学 | Cube rod mechanism achieving space three-freedom-degree class ball joint rotation through liner driving |
| CN103831818B (en) * | 2014-02-26 | 2016-01-20 | 南京航空航天大学 | The cube linkage that linear drives implementation space Three Degree Of Freedom class ball-joint rotates |
| CN105370091A (en) * | 2015-12-07 | 2016-03-02 | 李星桥 | Spherical telescopic tent and installation usage method |
| KR101853258B1 (en) * | 2017-08-25 | 2018-04-30 | 조성건 | A spherical robot with variable exoskeleton |
| CN108739783A (en) * | 2018-05-04 | 2018-11-06 | 国网河北省电力有限公司石家庄供电分公司 | A kind of bird-repellent robots on electrical cross arm |
| CN110549344B (en) * | 2018-06-04 | 2024-02-23 | 苏州英特吉医疗设备有限公司 | Manipulator and automatic medicine taking device with same |
| CN110549344A (en) * | 2018-06-04 | 2019-12-10 | 苏州英特吉医疗设备有限公司 | Manipulator and automatic medicine taking device with same |
| CN108891497B (en) * | 2018-07-08 | 2020-09-29 | 陈必通 | Cross-country vehicle device based on variable movement diameter of screw |
| CN108891497A (en) * | 2018-07-08 | 2018-11-27 | 胡俊 | A kind of offroad vehicle device based on propeller variable motion diameter |
| CN113974293A (en) * | 2020-07-26 | 2022-01-28 | 北京服装学院 | Bag with two detachable sides |
| CN112775990A (en) * | 2021-01-26 | 2021-05-11 | 河北工业大学 | Ball deformation cell robot and environmental information monitoring system based on same |
| CN113733059A (en) * | 2021-09-26 | 2021-12-03 | 桂林理工大学 | Parallel metamorphic spherical robot with less degrees of freedom |
| CN113733059B (en) * | 2021-09-26 | 2023-06-23 | 桂林理工大学 | Less-degree-of-freedom parallel metamorphic spherical robot |
| CN116735809A (en) * | 2023-08-15 | 2023-09-12 | 北京特新达机房设备有限公司 | Humidification dehumidifier humidity detection equipment for computer lab |
| CN116735809B (en) * | 2023-08-15 | 2023-10-20 | 北京特新达机房设备有限公司 | Humidification dehumidifier humidity detection equipment for computer lab |
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| CN103317512B (en) | 2015-12-02 |
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